libKF simple 1D filter example

libkf_filter.c

// build with...
// gcc -I/usr/local/include filter.c -lKF -lindicurses -lncurses

#include <kf.h>
#include <indicurses.h>

int main()
{
	kf_t filter = {};

	if(kfCreateFilter(&filter, 1)){
		// Allocation error occured
		return -1;
	}

	filter.matB.col[0][0] = 0;
	filter.matR.col[0][0] = 10;
	filter.matQ.col[0][0] = 0.001;

	float state[] = { 0 }; // currently estimated state
	int stateSamples[100] = {};
	int measurements[100] = {};

	for(int i = 0; i < 100; ++i){
		float reading = 100;
		float measurement[] = { reading }; 

		kfPredict(&filter, NULL);
		kfUpdate(&filter, state, measurement);

		measurements[i] = measurement[0];
		stateSamples[i] = state[0];
	}

	icInit();
	int topLeft[2] = { 2, 2 };
	int bottomRight[2] = { IC_TERM_WIDTH - 5, IC_TERM_HEIGHT - 2};

	int minMax[2] = { 0, 200 };

	icLineGraph(topLeft, bottomRight, '.', measurements, 100, minMax);
	icLineGraph(topLeft, bottomRight, '*', stateSamples, 100, minMax);
	icPresent();

	return 0;
}